Research On ROS Industrial Robot Pose Automatic Compensation Method Based On WMPS System

Under the background of "Industry 4.0" and other intelligent manufacturing,flexible processing technology represented by industrial robots is being widely introduced into the manufacturing process of high-end complex products such as aviation,aerospace,automobile,etc.The production mode based on large-scale cluster manufacturing of robots has become the recognized development direction.Although the positioning error of the robot end-effector can be controlled at ±0.3mm when it repeatedly moves to a certain point,due to the limitations of the multi-axis and multilink motion principle and the performance of the ontology Angle sensor,when moving in a large range,the absolute positioning error of the industrial robot can only be guaranteed to reach millimeter level(±2-10mm)by relying on its own sensor.It can not meet the sub-millimeter or even micron positioning accuracy requirements of high-end equipment manufacturing site.However,the existing precision compensation methods have some disadvantages such as high cost,easy to be sheltered and be affected by bad environment.Aiming at the above deficiencies,this paper introduces a workspace Measuring and Positioning System: wMPS),using its advantages of full-space realtime,multi-objective,high-precision and anti-interference prominent principle to achieve spatial pose precision compensation for the end-effector of industrial robots.Major works completed include:1.This paper describes the coordinate and attitude measurement principle of wMPS for the robot,introduces in detail the measurement data form of robot to be measured coordinate in ROS system,and develops the communication mode of wMPS system and ROS system,realizing the integration of wMPS and ROS system.2.Based on the circumferential constraint principle,an integrated 6-DOF measurement target is designed in this paper.By integrating the sensor inside the target,the rigid constraint of the sensor is carried out to strengthen the fixed strength of the sensor and the target,and improve the security and stability,the 6-DOF measurement model and measurement principle are introduced in detail.The calibration scheme of the 6-DOF target is designed,and the measurement accuracy of the target is verified through precision verification experiment.3.This paper designs a calibration method of point set matching based on SVD decomposition and derives its mathematical formula to explain its calibration principle.In addition,the corresponding coordinate calibration experiments are designed to verify the accuracy and feasibility of the calibration method based on point set matching.4.This paper designs a control compensation algorithm based on fast expanding random tree.wMPS measurement feedback is used to provide control compensation coordinates,and ROS system is used to control the robot at the end to achieve closedloop small range movement.This method reduces the positioning accuracy error of the robot after moving in a large range and solves the problem of low positioning accuracy of the robot in intelligent manufacturing.